On-vehicle camera alignment monitoring system

Abstract

A system for on-vehicle camera alignment monitoring includes an on-vehicle camera in communication with a controller. The controller monitors vehicle operating parameters and camera signal parameters, and captures an image file from the on-vehicle camera. A first level analysis of the image file, the vehicle operating parameters, and the camera signal parameters is executed to detect dynamic conditions and image feature parameters that affect camera alignment. An error with one of the dynamic conditions or the image feature parameters that affects the camera alignment is detected. A second level analysis of the camera signal parameters is executed to identify a root cause indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error. A camera alignment-related fault is detected based upon the root cause, and vehicle operation is controlled based upon the camera alignment-related fault.

What is claimed is: 
     
       1. A system for on-vehicle camera alignment monitoring comprising:
 a vehicle spatial monitoring system including an on-vehicle camera in communication with a controller, 
 the controller including an instruction set that is executable to:
 monitor vehicle operating parameters and camera signal parameters; 
 capture a plurality of image files from the on-vehicle camera over a defined time window; 
 execute a first level analysis of the plurality of image files, the vehicle operating parameters, and the camera signal parameters to detect dynamic conditions and a plurality of image feature parameters that affect camera alignment; 
 detect an error with one of the dynamic conditions or the plurality of image feature parameters that affects the camera alignment; 
 execute a second level analysis of the camera signal parameters to identify a root cause selected from at least one of insufficient lighting, lens blockage, inclement weather, and mounting faults and indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error; 
 aggregate data from the plurality of image files and evaluate results from the first level analysis and the second level analysis to identify a trend in the root cause over the defined time window; 
 detect a camera alignment-related fault based upon the root cause; and 
 control vehicle operation based upon the camera alignment-related fault by at least one of:
 generating at least one of a visual, auditory, and haptic message to thereby notify a vehicle operator of the camera alignment-related fault, 
 generating a service request to a vehicle service center, and 
 disabling vehicle systems that rely on operation of the on-vehicle camera. 
 
 
 
     
     
       2. The system of  claim 1 , wherein the dynamic conditions include vehicle speed, acceleration and yaw rate, and wherein the instruction set is executable to detect the error when one of the vehicle speed, the acceleration, or the yaw rate is outside a respective allowable range based upon the dynamic conditions. 
     
     
       3. The system of  claim 1 , wherein the dynamic conditions include a road surface, and wherein the instruction set is executable to detect the error when an uneven road surface is detected. 
     
     
       4. The system of  claim 1 , wherein the plurality of image feature parameters includes at least one of a feature extraction count, a feature match count, an essential matrix inlier point count, a recovering pose feature count, a triangulation inlier point count, a two-dimensional road region of interest (ROI) feature point count, a three-dimensional road ROI feature point count, and a plane-fitting inlier point count. 
     
     
       5. The system of  claim 4 , wherein the instruction set is executable to detect the error when the one of the plurality of image feature parameters is outside a respective allowable range. 
     
     
       6. The system of  claim 5 , wherein the instruction set being executable to execute the second level analysis of the camera signal parameters to identify a root cause associated with the plurality of image feature parameters comprises the instruction set being executable to identify the at least one of insufficient lighting, lens blockage, and inclement weather when one of the plurality of image feature parameters is outside a respective allowable range. 
     
     
       7. The system of  claim 1 , further comprising the instruction set being executable to capture a plurality of consecutive image files from the on-vehicle camera;
 wherein the instruction set is executable to:
 determine a plurality of matched feature pairs between the plurality of consecutive image files; 
 determine a plurality of motion vectors based upon the plurality of matched feature pairs; 
 detect an error with the plurality of motion vectors that affects the camera alignment; and 
 execute the second level analysis of the camera signal parameters to identify the root cause of the error with the plurality of motion vectors that affects the camera alignment; 
 wherein the root cause of the error with the plurality of motion vectors that affects the camera alignment includes a fault with mounting of the on-vehicle camera. 
 
 
     
     
       8. The system of  claim 7 , further comprising the instruction set being executable to detect a camera alignment-related fault based upon the root cause of the error with the plurality of motion vectors that affects the camera alignment; and
 control vehicle operation based upon the camera alignment-related fault. 
 
     
     
       9. The system of  claim 7 , further comprising the instruction set being executable to cluster the plurality of motion vectors to determine inlier points in an essential matrix calculation, a triangulation and plane fitting; and identify an insufficient quantity of inlier points based thereon. 
     
     
       10. The system of  claim 1 , wherein the instruction set being executable to control vehicle operation based upon the camera alignment-related fault comprises the instruction set being executable to generate at least one of the visual, auditory, and haptic message to thereby notify the vehicle operator of the camera alignment-related fault. 
     
     
       11. The system of  claim 1 , further comprising an autonomic vehicle control system operatively connected to the vehicle spatial monitoring system; wherein the instruction set being executable to control operation based upon the camera alignment-related fault comprises the instruction set being executable to disable the autonomic vehicle control system based upon the camera alignment-related fault. 
     
     
       12. The system of  claim 1 , further comprising communicating the plurality of image files, the vehicle operating parameters, the camera signal parameters, and the plurality of image feature parameters to an off-board system. 
     
     
       13. A system for on-vehicle camera alignment monitoring comprising:
 a vehicle spatial monitoring system including an on-vehicle camera in communication with a controller, the controller including an instruction set that is executable to:
 monitor vehicle operating parameters and camera signal parameters; 
 capture a plurality of image files from the on-vehicle camera over a defined time window; 
 analyze the plurality of image files, the vehicle operating parameters, and the camera signal parameters to detect dynamic conditions, a plurality of image feature parameters, and a plurality of motion vectors that affect camera alignment; 
 detect an error with one of the dynamic conditions, the plurality of image feature parameters, and the plurality of motion vectors that affects the camera alignment; 
 analyze the camera signal parameters to identify a root cause selected from at least one of insufficient lighting, lens blockage, and mounting faults and indicating one of the dynamic conditions, the image feature parameters, or the plurality of motion vectors that affects the camera alignment based upon the error; 
 aggregate data from the plurality of image files and evaluate results from analysis of the plurality of image files, the vehicle operating conditions, and the camera signal parameters to identify a trend in the root cause over the defined time window; 
 detect a camera alignment-related fault based upon the root cause; and 
 control vehicle operation based upon the camera alignment-related fault by at least one of:
 generating at least one of a visual, auditory, and haptic message to thereby notify a vehicle operator of the camera alignment-related fault, 
 generating a service request to a vehicle service center, and 
 disabling vehicle systems that rely on operation of the on-vehicle camera. 
 
 
 
     
     
       14. The system of  claim 13 , wherein the plurality of image feature parameters includes at least one of a feature extraction count, a feature match count, an essential matrix inlier point count, a recovering pose feature count, a triangulation inlier point count, a two-dimensional road ROI feature point count, a three-dimensional road ROI feature point count, and a plane-fitting inlier point count. 
     
     
       15. The system of  claim 14 , wherein the instruction set is executable to detect the error when the one of the plurality of image feature parameters is outside a respective allowable range. 
     
     
       16. The system of  claim 15 , wherein the instruction set being executable to identify a root cause associated with the plurality of image feature parameters comprises the instruction set being executable to identify the at least one of insufficient lighting, lens blockage, and inclement weather condition when one of the plurality of image feature parameters is outside a respective allowable range. 
     
     
       17. The system of  claim 13 , further comprising the instruction set being executable to capture a plurality of consecutive image files from the on-vehicle camera;
 wherein the instruction set is executable to:
 determine a plurality of matched feature pairs between the plurality of consecutive image files; 
 determine a plurality of motion vectors based upon the plurality of matched feature pairs; 
 detect an error with the plurality of motion vectors that affects the camera alignment; and 
 identify the root cause of the error with the plurality of motion vectors that affects the camera alignment; 
 wherein the root cause of the error with the plurality of motion vectors that affects the camera alignment includes a fault with mounting of the on-vehicle camera. 
 
 
     
     
       18. The system of  claim 17 , further comprising the instruction set being executable to:
 detect a camera alignment-related fault based upon the root cause of the error with the plurality of motion vectors that affects the camera alignment; and 
 control vehicle operation based upon the camera alignment-related fault. 
 
     
     
       19. The system of  claim 17 , further comprising the instruction set being executable to cluster the plurality of motion vectors to determine inlier points in an essential matrix calculation, a triangulation and plane fitting; and identify an insufficient quantity of inlier points based thereon. 
     
     
       20. A system for on-vehicle camera alignment monitoring comprising:
 a vehicle spatial monitoring system including an on-vehicle camera in communication with a controller, and an autonomic vehicle control system operatively connected to the vehicle spatial monitoring system, the controller including an instruction set that is executable to:
 monitor vehicle operating parameters and camera signal parameters; 
 capture a plurality of image files from the on-vehicle camera over a defined time window; 
 analyze the plurality of image files, the vehicle operating parameters, and the camera signal parameters to detect dynamic conditions, a plurality of image feature parameters, and a plurality of motion vectors that affect camera alignment; 
 detect an error with one of the dynamic conditions, the plurality of image feature parameters, and the plurality of motion vectors that affects the camera alignment; 
 analyze the camera signal parameters to identify a root cause selected from at least one of insufficient lighting, lens blockage, inclement weather, and mounting faults and indicating one of the dynamic conditions, the image feature parameters, or the plurality of motion vectors that affects the camera alignment based upon the error; 
 aggregate data from the plurality of image files and evaluate results from the first level analysis and the second level analysis to identify a trend in the root cause over the defined time window; 
 detect a camera alignment-related fault based upon the root cause; and 
 disable the autonomic vehicle control system based upon the camera alignment-related fault.